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We give a non-iterative solution to a particular case of the four-pointthree-views pose problem when three camera centers are collinear. Using thewell-known Cayley representation of orthogonal matrices, we derive from theepipolar constraints a system of three polynomial equations in three variables.The eliminant of that system is a multiple of a 36th degree univariatepolynomial. The true (unique) solution to the problem can be expressed in termsof one of real roots of that polynomial. Experiments on synthetic data confirmthat our method is robust enough even in case of planar configurations.

A Non-Iterative Solution to the Four-Point Three-Views Pose Problem in Case of Collinear Cameras